A Design of Hull Coating Robot Based on Mecanum Wheel and Electromagnet

Hull coating robot is of great importance in ship building industry. In this paper, a novel coating robot with four electromagnets and Mecanum wheels are proposed and designed. Firstly, compared with other kinds of adsorption forms and driving forms, a better solution with electromagnets and Mecanum wheels is proposed. Secondly, the electromagnet related calculations are taken, and the relationship among magnetic force, distance and current is obtained. Sequentially, two kinds of suspension systems are proposed including a normal and a reverse form. Then, the relationship diagram between wheel height variation and force is founded. The analysis results indicate that the reverse form is better. Finally, the reverse form of suspension system is designed.